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<body><table class="tg" width="100%">
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    <th class="tg-legend" width="33%"></th>
    <th class="tg-title" width="33%">XH-430-W210</th>
    <th class="tg-title" width="33%">XH-430-V210</th>
  </tr>
  <tr>
    <td class="tg-legend" width="33%">Dimensions</td>
    <td class="tg-tech" width="66%" colspan="2">28.5mm * 46.5mm * 34mm</td>
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  <tr>
    <td class="tg-legend" width="33%">Weight</td>
    <td class="tg-tech" width="66%" colspan="2">82g</td>
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  <tr>
    <td class="tg-legend" width="33%">Materials</td>
    <td class="tg-tech" width="66%" colspan="2">Aluminum case (with plastic back)</td>
  </tr>
  <tr>
    <td class="tg-legend" width="33%">MCU</td>
    <td class="tg-tech" width="66%" colspan="2">STM CORTEX-M3 (STM32F103C8 @ 72MHZ)</td>
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  <tr>
    <td class="tg-legend" width="33%"></td>
    <td class="tg-tech" width="66%" colspan="2"></td>
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    <td class="tg-legend" width="33%">Motor</td>
    <td class="tg-tech" width="66%" colspan="2">Maxon Motor</td>
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  <tr>
    <td class="tg-legend" width="33%">Gear Material</td>
    <td class="tg-tech" width="66%" colspan="2">Full Metal Gear</td>
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    <td class="tg-legend" width="33%">Reduction Ratio</td>
    <td class="tg-tech" width="66%" colspan="2">212.6:1</td>
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    <td class="tg-tech" width="66%" colspan="2"></td>
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    <td class="tg-legend" width="33%">Resolution</td>
    <td class="tg-tech" width="66%" colspan="2">0.088° (4096 steps)</td>
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    <td class="tg-legend" width="33%">Operating Angle</td>
    <td class="tg-tech" width="66%" colspan="2">0° ~ 360° / Endless Turn</td>
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    <td class="tg-legend" width="33%"></td>
    <td class="tg-tech" width="66%" colspan="2"></td>
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    <td class="tg-legend" width="33%">Input Voltage</td>
    <td class="tg-tech" width="33%">10V ~ 14.8V (Recommended Voltage 12V)</td>
    <td class="tg-tech" width="33%">24V (Recommended Voltage 24V)</td>
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    <td class="tg-legend" width="33%">Rated Current</td>
    <td class="tg-tech" width="33%">40 mA (standby) / ? mA (maximum)</td>
    <td class="tg-tech" width="33%">?</td>
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  <tr>
    <td class="tg-legend" width="33%">Stall Torque</td>
    <td class="tg-tech" width="33%">2.2 N·m (at 11.1V)<br>2.5 N·m (at 12V)<br>3.1 N·m (at 14.8V)</td>
    <td class="tg-tech" width="33%">2.6 N·m (at 24V)</td>
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    <td class="tg-legend" width="33%">Stall Current</td>
    <td class="tg-tech" width="33%">1.2A (at 11.1V)<br>1.3A (at 12V)<br>1.3A (at 14.8V)</td>
    <td class="tg-tech" width="33%">0.7A (at 24V)</td>
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  <tr>
    <td class="tg-legend" width="33%">No Load Speed</td>
    <td class="tg-tech" width="33%">46 RPM (at 11.1V)<br>50 RPM (at 12V)<br>62 RPM (at 14.8V)</td>
    <td class="tg-tech" width="33%">52 RPM (at 24V)</td>
  </tr>
  <tr>
    <td class="tg-legend" width="33%">Running Temperature</td>
    <td class="tg-tech" width="66%" colspan="2">-5°C ~ +80°C</td>
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    <td class="tg-legend" width="33%"></td>
    <td class="tg-tech" width="66%" colspan="2"></td>
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    <td class="tg-legend" width="33%">Control algorithm</td>
    <td class="tg-tech" width="66%" colspan="2">PID</td>
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  <tr>
    <td class="tg-legend" width="33%">Operating modes</td>
    <td class="tg-tech" width="66%" colspan="2">Current Control Mode<br>Velocity Control Mode<br>Position Control Mode (0° ~ 360°)<br>Extended Position Control Mode<br>Current-based Position Control Mode <br>PWM Control Mode (Voltage Control Mode)</td>
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    <td class="tg-legend" width="33%">Feedbacks</td>
    <td class="tg-tech" width="66%" colspan="2">Position (Contactless Absolute Encoder), Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc</td>
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    <td class="tg-legend" width="33%"></td>
    <td class="tg-tech" width="66%" colspan="2"></td>
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    <td class="tg-legend" width="33%">Communication link</td>
    <td class="tg-tech" width="66%" colspan="2">- XH430-*350-T (TTL Level Multi Drop Bus)<br>- XH430-*350-R (RS485 Multi Drop Bus)</td>
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  <tr>
    <td class="tg-legend" width="33%">Baudrates</td>
    <td class="tg-tech" width="66%" colspan="2">9600 bps ~ 4.5 Mbps</td>
  </tr>
  <tr>
    <td class="tg-legend" width="33%">IDs Range</td>
    <td class="tg-tech" width="66%" colspan="2">253 ID (0~252)</td>
  </tr>
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